// --------------------------------------------------------------------------------------------------------------------
// <copyright file="RobotiqManifest.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
// </copyright>
// --------------------------------------------------------------------------------------------------------------------
namespace Test.Robotics.Hardware.Robotiq
{
    using System;
    using System.Collections.Generic;

    using Microsoft.Robotics.Hardware.Robotiq;
    using Microsoft.Robotics.Hardware.Runtime.Robotiq;
    using Microsoft.Robotics.Hardware.Visualization.Robotiq;
    using Microsoft.Robotics.Runtime;
    using Microsoft.Robotics.Visualization;

    /// <summary>
    /// Provides methods for creating manifests in a type-checked way.
    /// </summary>
    public static class RobotiqManifest
    {
        /// <summary>
        /// Create a manifest to start the Robotiq S Model gripper agent and visualization
        /// </summary>
        /// <returns>A manifest.</returns>
        public static Manifest CreateRobotiqManifest()
        {
            Manifest manifest = new Manifest();

            TimerAgent timer = new TimerAgent(
                name: "RobotiqHeartbeatTimer",
                timerInterval: 50);

            manifest.Agents.Add(timer);

            RobotiqSModelAgent robotiqAgent = new RobotiqSModelAgent(
                name: "GripperAgent",
                producer: timer);
            manifest.Agents.Add(robotiqAgent);

            List<ViewDefinition> views = new List<ViewDefinition>();

            RobotiqSModelVisualizationAgent modelAgent = new RobotiqSModelVisualizationAgent(
                name: "RobotiqSModelVisualizationAgent",
                producer: robotiqAgent,
                maxUpdateIntervalMilliseconds: 10,
                robotiqAgentName: robotiqAgent.Name);
            manifest.Agents.Add(modelAgent);

            ViewDefinition def = new ViewDefinition("RobotiqSModelDisplay", typeof(RobotiqSModelDisplayView), modelAgent);
            views.Add(def);

            UserInterfaceAgent userInterface = new UserInterfaceAgent("UserInterface", views.ToArray());
            manifest.Agents.Add(userInterface);

            manifest.ActiveAgents.Add(userInterface.Name);
            manifest.ActiveAgents.Add(robotiqAgent.Name);
            return manifest;
        }
    }
}
